FYP FINAL
PRESENTATION
CT 26
Soccer Playing Humanoid Robot
(ROPE IV)
CONTENT



Introduction
Objectives
Work and Results






Mechanical Structure of ROPE IV
Robot Control
Problems and Solutions
Results
Recommendations
Conclusions
INTRODUCTION
Humanoid Robot

Motivation behind humanoid research:



A machine that interacts naturally with
human spaces.
People relate better to robots that look
similar to us.
There is a basic desire to reproduce
ourselves.
Soccer

Why soccer for evaluating humanoid?



Intensive in leg movements.
Test for both speed and agility.
Popular sport that can attract huge number
of participants.
RoboCup



One of the world major competition for
robot.
Its vision.
RoboCup 2005 will be held July in
Osaka, Japan.
RoboCup

Events



Penalty Kick
2-2 Games
Technical Challenge



Walk over rough terrain
Walk around poles
Shoot the ball against a pole
OBJECTIVES
OBJECTIVES

To build a humanoid robot (ROPE IV)
with soccer playing ability.

Able to recover from fallen positions.

Participate in RoboCup 2005.
WORK AND RESULTS
Mechanical Structure of
ROPE IV



ROPE IV is designed with 22 DOFs.
Actuated by servos: 17 DS8511, 3
HSR5995TG and 2 HS-5125MG servos.
Controlled by microcontroller
ATmega128.
Locations and Orientations of DOFs on ROPE IV
Ankle Design
ROPE II
ROPE IV
Hip Design I
ROPE II
ROPE IV
Hip Design II
ROPE II
ROPE IV
Body Design
Yaw
Pitch
Arm Design
ROPE IV
ROPE II
Robot Control



Microcontroller Atmega128 as ROPE IV’s
processor.
Two Basic Stamp2 for PWM signal
generation.
Integrated onto a PCB designed for
ROPE IV.
ROPE IV Controller Board
Walking


Basically joint space control.
The walking cycle was broken down
into 6 phases.
LEFT SWING
RIGHT SWING
LEFT LANDING
DOUBLE
RIGHT LANDING
DOUBLE
LEFT SWING
Walking



These 6 critical postures could be adjusted by
changing the parameters in the Cartesian
space.
Parameters converted to joint space using
inverse kinematics.
Currently, calculations for the interpolations of
joint angles are done by Basic Stamp2.
Recovery from fallen position



Made use of the arms and the body
pitch.
Involves co-ordinations between upper
and lower body.
Problem in calculations done on Basic
Stamp2.
(a)
(b)
(d)
(c)
(e)
(g)
(f)
(h)
Problems and Solutions
Body Pitch
Body Yaw
Shoulder Joint
Problems and Solutions
Yaw Shaft
Problems and Solutions
Problems and Solutions
Before Modification
After Modification
Results

Walking

Recover for fallen position

Kicking
RECOMMENDATIONS
Further Robot Control

Algorithms for:




Walking at higher speed
Recovery from fallen facing up / Flipping
over from facing up to facing down
Other motions
Implementation of ATmega128.
Sensors Incorporation

CMUCam2

Infra-red sensors

Force sensors

Digital compass
Conclusions



A humanoid robot ROPE IV was built.
ROPE IV is capable of recovering from
fallen position.
ROPE IV will be participating in
RoboCup 2005.
THE END